Yes, by using "Advanced Waypoint" type "Perform Task" action "Follow". This is how I arrange the mixed 4-ship of a Viggen flight having extreme case of 2 strikers, 1 SEAD and one with only Sidewinder allowing them to have the correct task assigned (singleplayer AI work is a nightmare in DCS, gotta love when the SEAD escort goes defensive on a SAM launch by nose up vertical on idle engine ejecting all SEAD weapons)
Edit, and for clarity - having red to escort blue you need to set them both weapons hold etc. (had that as the first mission in the DCS Viggen campaign I recently removed from ED user files)